Contents
How to calculate joint configurations in inverse kinematics?
The Inverse Kinematics block uses an inverse kinematic (IK) solver to calculate joint configurations for a desired end-effector pose based on a specified rigid body tree model. Create a rigid body tree model for your robot using the rigidBodyTree class.
How is an inverse kinematic solver used in robotics?
The Inverse Kinematics block uses an inverse kinematic (IK) solver to calculate joint configurations for a desired end-effector pose based on a specified rigid body tree model. Create a rigid body tree model for your robot using the rigidBodyTree class. The rigid body tree model defines all the joint constraints that the solver enforces.
What is the difference between inverse and forward kinematics?
As opposed to forward kinematics, which computes the workspace coordinates of the robot given a configuration as input, inverse kinematics (IK) is essentially the reverse operation: computing configuration (s) to reach a desired workspace coordinate.
How to calculate a robot’s end effector pose?
Robot configuration that solves the desired end-effector pose, specified as a vector. A robot configuration is a vector of joint positions for the rigid body tree model. The number of positions is equal to the number of nonfixed joints in the Rigid body tree parameter.
How to solve the inverse kinematics problem for closed loop e?
The inverse kinematics problem for closed loop e can be formulated as follows: “Given the loop-closure and root-link twists Ve and VR and the relative end-link twist V ′ k, find the limb joint velocities ˙ θk, k ∈ {er, el} .” The solution to the above problem can be derived from (2.73).
How to calculate the pose of an end effector?
PoseErrorNorm — The magnitude of the error between the pose of the end effector in the solution and the desired end-effector pose. ExitFlag — Code that gives more details on the algorithm execution and what caused it to return. For the exit flags of each algorithm type, see Exit Flags.
How to compute joint configurations to achieve an end effector?
Input the desired end-effector Pose, the Weights on pose tolerance, and an InitialGuess for the joint configuration. The solver outputs a robot configuration, Config, that satisfies the end-effector pose within the tolerances specified in the Solver Parameters tab. End-effector pose, specified as a 4-by-4 homogeneous transform.